JP2020010432A - Processing device - Google Patents

Abstract

To accurately estimate a temperature of a coil with regard to an electronic thermal of a motor.SOLUTION: The present invention relates to a processing device for determining a calculation model including: a coil temperature characteristic model including coil-related parameters relating to temperature characteristics of a coil of a motor; and a stator temperature characteristic model including stator-related parameters relating to temperature characteristics of a stator of the motor. The processing device comprises: a temperature transition acquisition section for acquiring a rising transition of a temperature of the coil in the state in which first voltage application is being performed for making the temperature of the coil rise to a first temperature, and further acquiring a falling transition of the temperature of the coil in the state in which second voltage application is being performed for making the temperature of the coil fall to a second temperature that is lower than the first temperature, after the temperature is settled at the first temperature; and a determination section for determining the stator temperature characteristic model by calculating the stator-related parameters on the basis of the falling transition, and further determining the coil temperature characteristic model by calculating the coil-related parameters on the basis of the rising transition and the stator temperature characteristic model.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a processing device for adjusting model parameters related to electronic thermal of a motor.

  2. Description of the Related Art Motors are used in various fields, and the conditions of use, such as rotational speed and motor load, also vary. In addition, the surrounding atmosphere of the motor is not always constant. Generally, when the ambient temperature of the motor increases, heat radiation from the motor becomes difficult to be performed, and the use environment becomes severe. When driving a motor, if it is placed in an overload environment, the winding temperature of the motor may rise excessively and the winding may be burned out. In order to avoid such burning of the windings, there is a technology that embeds a temperature sensor such as a thermistor or a thermostat in the motor and directly detects the temperature of the windings by using these sensors to avoid overload operation of the motor. . However, in such a case, it is necessary to embed the temperature sensor in the motor, and if the temperature sensor is not accurately arranged at a predetermined position, it becomes difficult to appropriately detect the temperature of the winding.

  Therefore, a technique relating to an electronic thermal that determines a load condition from a current command flowing through a motor and determines overheating of a winding without using a direct sensor such as a temperature sensor has been developed. In such electronic thermal, an excessive temperature rise of the winding is determined on software. For example, in the technique disclosed in Patent Document 1, a winding resistance value is estimated based on parameters such as a voltage, a current applied to a motor, and an induced voltage of the motor, and a winding temperature is calculated from the estimated winding resistance value. presume. Further, in the technique disclosed in Patent Document 2, the winding temperature at the start is estimated from the winding resistance measured at the start of the motor, and thereafter, the transition of the winding temperature is estimated based on the current passed through the motor.

JP 2011-15584 A JP-A-9-261850

  In order to avoid overheating of the windings by using the electronic thermal technique, it is preferable that the specifications related to the motor are clear. That is, if physical parameters such as the resistance value of the winding and the induced voltage of the motor related to the temperature of the winding are clear, the temperature of the winding can be more accurately estimated. However, when a motor is driven by a driver, the physical parameters of the motor are not always clear. In such a case, even if the motor can be driven by the driver, it may be difficult to accurately execute the suppression of the excessive heating of the winding by the electronic thermal technology.

  Further, since the motor has a structure in which a winding is wound on the stator, the winding may be thermally affected by the stator. That is, in order to determine the excessive temperature rise of the winding, it is not sufficient to estimate the temperature transition of only the winding, and the winding temperature is estimated in consideration of the correlation between the stator and the winding. Therefore, it is considered preferable to determine the excessive temperature rise. However, the prior art does not sufficiently mention the thermal correlation between the stator and the winding.

  The present invention has been made in view of such a problem, and it is an object of the present invention to provide a technique for accurately estimating a temperature of a winding with respect to an electronic thermal of a motor.

  In the present invention, in order to solve the above-described problems, when a voltage is applied to the motor to increase the winding temperature, and then a different voltage is applied to lower the winding temperature, the rising transition and the falling transition are performed. Based on the above, a configuration for determining a stator temperature characteristic model and a winding temperature characteristic model for the electronic thermal of the motor is adopted. By determining the characteristic model related to the stator and the characteristic model related to the winding in this way, it is possible to more accurately estimate the temperature of the motor winding by electronic thermal.

  In particular, the present disclosure is a calculation model for estimating a temperature of a winding, which is provided in an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and a temperature characteristic of the winding. A processing device that determines a calculation model including a winding temperature characteristic model including a winding-related parameter related to a stator and a stator temperature characteristic model including a stator-related parameter related to a temperature characteristic of the stator. Acquiring a change in the temperature of the winding in a state where a first voltage is applied to raise the temperature of the winding to a first temperature; After the convergence, a temperature transition acquisition unit that acquires a decrease transition of the temperature of the winding in a state where a second voltage is applied to decrease the temperature to the second temperature lower than the first temperature; Calculating the stator-related parameters based on the Determining a stator temperature characteristic model, further calculating the winding-related parameters based on the rising transition and the determined stator temperature characteristic model to determine the winding temperature characteristic model, a determining unit, Is provided.

  The processing device according to the present disclosure performs the first voltage application for increasing the winding temperature, and then performs the second voltage application for decreasing the winding temperature. The second voltage application may be any voltage application as long as the winding temperature falls to the second temperature and converges, and includes a mode in which no voltage is applied to the winding. Focusing on the fact that the thermal characteristic of the stator of the motor is dominant in the descending transition of the winding temperature at this time, the stator-related parameters are calculated based on the descending transition, and the stator temperature characteristic model is It is determined. The stator temperature characteristic model is a model for calculating the temperature characteristic of the stator when virtually eliminating the thermal effect of the winding in the motor. Note that examples of the stator-related parameters included in the model include a thermal resistance and a thermal time constant of the stator.

  In addition, the rise in the winding temperature when the first voltage is applied is affected by each of the stator and the winding of the motor, but since the stator temperature characteristic model is determined earlier as described above. By subtracting the influence of the stator estimated based on this, the winding-related parameters are calculated, and the winding temperature characteristic model is determined. The winding temperature characteristic model is a model for calculating the temperature characteristics of the winding when the thermal effect of the stator is virtually eliminated in the motor. Note that examples of the winding-related parameters included in the model include a thermal resistance and a thermal time constant of the winding. In this way, the stator temperature characteristic model and the winding temperature characteristic model for the electronic thermal were determined, and by using both models, the estimation of the winding temperature that fully considered the thermal correlation between the stator and the winding was realized. Is done. In the above processing apparatus, both models for the electronic thermal are determined using the measured temperature transition. Therefore, the processing apparatus can be applied even when the physical parameter values of the motor are unknown. It is possible to accurately estimate the winding temperature in the thermal.

  In the above processing device, the temperature transition acquiring unit may acquire the rising transition and the falling transition based on a resistance value of the winding. Accordingly, when determining the stator temperature characteristic model and the winding temperature characteristic model, it is not necessary to dispose a detecting device for measuring the transition of the winding temperature in the motor.

Further, the above-described processing device, when an applied voltage to the winding is input and a current flowing through the winding is output, a frequency response obtaining unit that obtains a frequency response of the motor, based on the frequency response. And a resistance calculator for calculating a resistance value of the winding. By focusing on the electrical characteristics of the winding and using its frequency response, the voltage applied to the winding for detecting the resistance value of the winding can be reduced as much as possible. This makes it possible to suppress the fluctuation of the winding temperature and to more accurately measure the resistance value of the winding.

  Further, in the above-described processing apparatus, the first voltage application may include a first cycle of voltage application, and the second voltage application may include a second cycle of voltage application. In that case, the resistance calculation unit is configured to perform the first voltage application based on the frequency response acquired by the frequency response acquisition unit according to the output current of the motor when the voltage application of the first cycle is performed. Calculating the resistance value of the winding, based on the frequency response acquired by the frequency response acquisition unit according to the output current of the motor when the voltage application of the second cycle is input, based on the frequency response when the second voltage is applied The resistance value of the winding may be calculated, and the temperature transition obtaining unit may obtain the temperature rise transition and the falling transition based on the resistance value of the winding calculated by the resistance calculation unit. . In such a configuration, the first voltage application for the rising transition also serves as a voltage application for measuring the resistance of the winding associated with the rising transition, and the second voltage application for the falling transition is It also serves as voltage application for measuring the resistance value of the winding related to the falling transition. Therefore, regarding the measurement of the rising transition and the falling transition, it is possible to suppress the fluctuation of the winding temperature and to more accurately measure the resistance value of the winding.

Further, in the processing device described above, the temperature transition acquisition unit acquires the rising transition and the falling transition in a state where the rotor is not rotating, and the determining unit is acquired in a state where the rotor is not rotating. The stator temperature characteristic model and the winding temperature characteristic model may be determined based on the rising transition and the falling transition. Then, while the rotor is rotated at a predetermined rotation speed, the processing device performs a third voltage application to increase the temperature of the winding, and performs a rotation rise transition, which is a temperature transition of the winding. Based on the rotation temperature change acquisition unit to be acquired, the voltage application condition at the time of applying the third voltage, and the stator temperature characteristic model and the winding temperature characteristic model determined by the determination unit, An estimating unit for estimating the convergence temperature of the winding in the ascending transition, based on the obtained convergence temperature of the winding in the ascending transition during rotation, and the estimated convergence temperature of the winding, An updating unit that updates the stator temperature characteristic model determined by the determining unit with a new stator temperature characteristic model. With such a configuration, the temperature of the winding can be estimated in the stator temperature characteristic model in consideration of the influence of iron loss generated in the stator. Note that the third temperature may be the same as the above-mentioned first temperature, or may be another temperature.

  Further, in order to solve the above-described problem, the present disclosure can be understood from the aspect of a method of determining a winding temperature calculation model. That is, the present disclosure is a calculation model for estimating the temperature of a winding, which is provided by an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and relates to a temperature characteristic of the winding. A calculation model including a winding temperature characteristic model including a winding-related parameter and a stator temperature characteristic model including a stator-related parameter related to a temperature characteristic of the stator. The method comprises the steps of: acquiring a temperature rise transition of the winding while performing a first voltage application for raising the temperature of the winding to a first temperature; Acquiring, after converging to the first temperature, a falling transition of the temperature of the winding in a state in which a second voltage is applied to lower the winding to a second temperature lower than the first temperature; Calculating the stator-related parameters based on the stator temperature characteristic model, and calculating the winding-related parameters based on the ascending transition and the determined stator temperature characteristic model. Determining a winding temperature characteristic model. Further, the technical idea disclosed with respect to the processing device described above can be applied to the method of determining the winding temperature calculation model as long as no technical inconsistency occurs.

Further, in order to solve the above problem, the present disclosure can be grasped also from the aspect of a program for determining a winding temperature calculation model. That is, the present disclosure is a calculation model for estimating the temperature of a winding, which is provided by an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and relates to a temperature characteristic of the winding. A processing device configured to determine a calculation model including a winding temperature characteristic model including a winding-related parameter to be set and a stator temperature characteristic model including a stator-related parameter related to the temperature characteristic of the stator. Acquiring a transition in temperature rise of the winding in a state where a first voltage is applied to raise the temperature of the winding to a first temperature; A step of acquiring a falling transition of the temperature of the winding while applying a second voltage for lowering the temperature to a second temperature lower than the first temperature after the temperature converges; and The stator related parameters are Determining the stator temperature characteristic model, and calculating the winding-related parameters based on the rising transition and the determined stator temperature characteristic model to determine the winding temperature characteristic model. And a program for determining a winding temperature calculation model to be executed. Further, the technical idea disclosed with respect to the processing device described above can be applied to the program for determining the winding temperature calculation model as long as no technical inconsistency occurs.

  Further, the present disclosure is a calculation model for estimating the temperature of the winding, which is included in an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and relates to a temperature characteristic of the winding. A processing device for determining a calculation model including a winding temperature characteristic model including a winding-related parameter to be performed, and a known stator temperature characteristic model including a stator-related parameter related to the temperature characteristic of the stator. A temperature transition acquiring unit that acquires a transition of the temperature of the winding until the temperature of the winding converges to the first temperature in a state where a first voltage is applied to raise the temperature of the winding to a first temperature. And a determining unit that calculates the winding-related parameters based on the rising transition and the known stator temperature characteristic model to determine the winding temperature characteristic model.

  Regarding the electronic thermal of the motor, the temperature of the winding can be accurately estimated.

FIG. 4 is a first diagram illustrating a configuration of a calculation model including a winding temperature characteristic model and a stator temperature characteristic model. FIG. 7 is a diagram illustrating a transition of a voltage applied to the motor when a calculation model is adapted to the motor, and a transition of a winding temperature at that time. 1 is a schematic configuration of a control system configured by incorporating a motor. FIG. 4 is a first diagram illustrating a control structure formed by a servo driver of the control system illustrated in FIG. 3. FIG. 4 is a second diagram illustrating a control structure formed by a servo driver of the control system illustrated in FIG. 3. 9 is a first flowchart illustrating a flow of a process of a method of applying a calculation model to a motor, which is executed by a servo driver. FIG. 4 is a diagram illustrating a transition of a voltage applied to a motor. FIG. 9 is a second diagram illustrating a configuration of a calculation model including a winding temperature characteristic model and a stator temperature characteristic model. 9 is a second flowchart illustrating a flow of processing of a method of adapting a calculation model to a motor, which is executed by a servo driver.

<Application example>
An example of a processing device for adjusting a model parameter for estimating a temperature of a motor winding in a motor having an electronic thermal will be described with reference to FIGS. 1 and 2. In the embodiment of the present disclosure, the motor only needs to have a configuration in which a winding is wound around the stator and the rotor is provided, and the specific configuration is not limited to a specific configuration. Here, FIG. 1 shows a schematic structure of a calculation model 100 for calculating a winding temperature, which is included in the electronic thermal of the motor. FIG. 2 is a graph showing the transition of the voltage applied to the motor and the winding temperature at the time of determining the calculation parameters used in the calculation model shown in FIG. 1, that is, the winding-related parameters and the stator-related parameters. FIG.

  The calculation model 100 of the electronic thermal will be described with reference to FIG. The calculation model 100 is a program for calculating the winding temperature of the motor in the electronic thermal of the motor. When a heat flow in the motor is given as an input, the calculation model 100 outputs the winding temperature of the motor. The heat flow can be regarded as so-called copper loss caused by the electric resistance of the winding coil of the motor, and is proportional to the square of the current flowing through the winding coil. Then, as shown in FIG. 1, the calculation model 100 includes a winding temperature characteristic model 101 and a stator temperature characteristic model 102 as sub models constituting itself. The winding temperature characteristic model 101 is a model for calculating the temperature characteristics of the winding when virtually eliminating the thermal effect of the stator in the motor. The stator temperature characteristic model 102 is a virtual model in the motor. This is a model for calculating the temperature characteristics of the stator when the thermal effect of the winding is excluded. As described above, the calculation model 100 includes both models, and the sum of the outputs of the models is calculated as the winding temperature of the motor as shown in FIG. 1, so that the correlation between the stator and the winding is considered. The configuration is such that the winding temperature of the motor is calculated above.

Here, the winding temperature characteristic model 101 will be described. The winding temperature characteristic model 101 is expressed by the following equation 1 including a thermal resistance Ra and a thermal time constant Ta of the winding, which are parameters related to the temperature characteristic of the winding (winding-related parameters). The thermal resistance Ra is a value indicating the difficulty of transmitting heat, and is a parameter indicating the amount of temperature rise per unit heat generated per unit time. In the present embodiment, the thermal resistance when the winding of the motor is regarded as a thermally homogeneous object is adopted. The thermal time constant Ta is a parameter indicating the degree of responsiveness of the winding to a change in temperature. When the winding transitions from an initial thermal equilibrium state to another thermal equilibrium state, 63.2% of the temperature difference. It is defined as the time it takes to change.
Winding temperature characteristic model = Ra / (Ta · s + 1) (Equation 1)

Next, the stator temperature characteristic model 102 will be described. The stator temperature characteristic model 102 is expressed by the following equation 2 including a thermal resistance Rb and a thermal time constant Tb relating to the stator, which are parameters related to the temperature characteristic of the stator (stator-related parameters). Note that the definition of the thermal resistance Rb is the same as the definition of the above-described thermal resistance Ra, and in the present embodiment, the thermal resistance when the stator of the motor is regarded as a thermally homogeneous object is adopted. The thermal time constant Tb is a parameter indicating the degree of responsiveness of the stator to a temperature change, and is the same as the definition of the above thermal time constant Ta.
Stator temperature characteristic model = Rb / (Tb · s + 1) (Equation 2)

  Then, in the calculation model 100, the input (heat flow in the motor) is passed to the winding temperature characteristic model 101 and the stator temperature characteristic model 102. Then, the outputs of the respective models are added to obtain the output of the calculation model, that is, the estimated temperature of the motor winding. In addition, when the outputs of the models are added, a value obtained by multiplying the output of each model by a predetermined gain may be added. By configuring the calculation model 100 in this way, the winding temperature of the motor is estimated in consideration of the correlation between the stator and the winding.

Next, based on FIG. 2, the calculation of the thermal resistance Ra and the thermal time constant Ta used in the winding temperature characteristic model 101 and the calculation of the thermal resistance Rb and the thermal time constant Tb used in the stator temperature characteristic model 102 will be described. The calculation will be described. Note that these parameters Ra, Rb, Ta, and Tb are also collectively referred to as model parameters. In the transition of the applied voltage shown in the upper part of FIG. 2, during the period from time T1 to T2, the motor is operated to raise the winding temperature from the initial equilibrium state temperature t0 to the first temperature t1 equilibrium state. A first voltage application, which is a voltage application, is being performed. During the period from time T1 to T2, the winding temperature of the motor rises as shown in the lower part of FIG. 2, and thus the transition of the winding temperature in this period is referred to as “rising transition”. When the first voltage is applied, the voltage V1 is applied so that current flows only in the d-axis so that the rotor of the motor does not rotate. The applied voltage V1 at this time may be any voltage that increases the motor temperature so as to be suitable for calculating the model parameters, and may be, for example, a voltage corresponding to the rated power of the motor.

  Further, in the transition of the applied voltage shown in the upper part of FIG. 2, the winding temperature is changed from the equilibrium state of the first temperature t1 in a period from time T2 to time T3 after the winding temperature converges to the first temperature. A second voltage application, which is a voltage application to the motor, is performed to lower the temperature to an equilibrium state where the temperature reaches the second temperature t2. In the period from time T2 to T3, the winding temperature of the motor decreases as shown in the lower part of FIG. 2, and thus the transition of the winding temperature in this period is referred to as “falling transition”. The voltage when the second voltage is applied in the embodiment shown in FIG. 2 is set to V2, and the voltage V2 is preferably as small as possible from the viewpoint of significantly lowering the winding temperature of the motor 2. In the second voltage application, the voltage application to the motor may not be substantially performed, that is, the voltage V2 may be 0V. The mode in which no voltage is applied in this way, in other words, the mode in which the applied voltage is 0 V is also included in the second voltage application. Even when the second voltage is applied, the voltage is applied so that the rotor of the motor does not rotate.

  The model parameters of Ra, Rb, Ta, and Tb are calculated based on the rising transition at times T1 and T2 and the falling transition at times T2 and T3. Since the heat capacity of the winding in the motor can be considered to be sufficiently smaller than the heat capacity of the stator, the thermal effect of the winding can be neglected in a downward transition in which the power input to the motor is relatively small. Therefore, it is appropriate to consider that the thermal effect of the stator is dominant in the downward transition. Therefore, the thermal resistance Rb and the thermal time constant Tb related to the temperature characteristics of the stator are calculated based on the descending transition. Specifically, the time required for the winding temperature to drop from T1 by 63.2% of the temperature difference T2−T1 is defined as a thermal time constant Tb. Further, the thermal resistance Rb is calculated based on the temperature difference T2−T1, the input power at that time, and the like.

  Here, in the rising transition, the temperature transition of the winding can be considered to be formed as a result of correlation between the thermal characteristics of the winding itself and the thermal characteristics of the stator. Therefore, the thermal resistance R 'and the thermal time constant T' related to the temperature characteristic when the stator and the winding are regarded as one based on the rising transition are calculated, and the thermal resistance R 'and the thermal time constant T' related to the stator already calculated from each are calculated. By removing the influence of the thermal resistance Rb and the thermal time constant Tb, the thermal resistance Ra and the thermal time constant Ta related to the temperature characteristics of the winding are calculated.

  A winding temperature characteristic model 101 and a stator temperature characteristic model 102 are formed using the model parameters thus calculated, and a calculation model 100 including both models is determined. By using the calculation model 100 determined in this way, it is possible to estimate the motor winding temperature in consideration of the correlation between the stator and the winding.

<First embodiment>
FIG. 3 is a schematic configuration diagram of a control system including the servo driver 4 that also operates as the processing device of the present embodiment. The control system includes a network 1, a motor 2, a load device 3, a servo driver 4, and a standard PLC (Programmable Logic Controller) 5.
The control system is a system for controlling the driving of the load device 3 together with the motor 2. Then, the motor 2 and the load device 3 are controlled objects 6 controlled by the control system. Here, examples of the load device 3 include various types of mechanical devices (for example, an arm or a transfer device of an industrial robot). The motor 2 is incorporated in the load device 3 as an actuator for driving the load device 3. For example, the motor 2 is an AC servomotor having a stator (stator) wound with windings and a rotor. An encoder (not shown) is attached to the motor 2, and a parameter signal relating to the operation of the motor 2 is fed back to the servo driver 4 by the encoder. The parameter signal transmitted as feedback (hereinafter referred to as feedback signal) includes, for example, position information on the rotational position (angle) of the rotating shaft of the motor 2, information on the rotational speed of the rotating shaft, and the like.

  The servo driver 4 receives an operation command signal related to the operation (motion) of the motor 2 from the standard PLC 5 via the network 1 and receives a feedback signal output from an encoder connected to the motor 2. The servo driver 4 calculates servo control relating to driving of the motor 2 based on an operation command signal from the standard PLC 5 and a feedback signal from the encoder, that is, calculates a command value relating to the operation of the motor 2, and determines whether the operation of the motor 2 A drive current is supplied to the motor 2 so as to follow the command value. Note that, as the supply current, AC power sent from the AC power supply 7 to the servo driver 4 is used. In the present embodiment, the servo driver 4 is of a type that receives three-phase alternating current, but may be of a type that receives single-phase alternating current. The servo control by the servo driver 4 is feedback control using a position controller 41, a speed controller 42, and a current controller 43 included in the servo driver 4, and details thereof will be described later with reference to FIG.

  Here, as shown in FIG. 3, the servo driver 4 includes a position controller 41, a speed controller 42, and a current controller 43, and the servo control is executed by these processes. Further, the servo driver 4 has an electronic thermal unit 150 (see FIG. 4) for protecting the motor 2 from damage due to overload. The electronic thermal unit 150 estimates the winding temperature of the motor 2 and determines an overload state of the motor 2 based on the estimated temperature. Accordingly, the servo control by the servo driver 4 and the protection control of the motor 2 by the electronic thermal unit 150 will be described based on the control structure formed in the servo driver 4 shown in FIG. The control structure is formed by executing a predetermined control program in the servo driver 4 having a predetermined arithmetic device and a memory.

  The position controller 41 performs, for example, proportional control (P control). Specifically, a speed command is calculated by multiplying a position deviation, which is a deviation between the position command notified from the standard PLC 5 and the detected position, by a position proportional gain Kpp. The position controller 41 has a position proportional gain Kpp as a control parameter in advance. Next, the speed controller 42 performs, for example, proportional integration control (PI control). Specifically, the speed integral gain Kvi is multiplied by the integral amount of the speed deviation, which is the deviation between the speed command calculated by the position controller 41 and the detected speed, and the speed proportional gain Kvp is added to the sum of the calculation result and the speed deviation. To calculate a torque command. The speed controller 42 has a speed integral gain Kvi and a speed proportional gain Kvp as control parameters in advance. Further, the speed controller 42 may perform P control instead of PI control. In this case, the speed controller 42 has a speed proportional gain Kvp as a control parameter in advance. Next, the current controller 43 generates a command voltage for driving the amplifier 44 based on the torque command calculated by the speed controller 42. The amplifier 44 outputs a drive current for driving the motor 2 according to the generated command voltage, and the drive of the motor 2 is thereby controlled. The current controller 43 includes a filter (first-order low-pass filter) related to the torque command and one or a plurality of notch filters, and has a cutoff frequency related to the performance of these filters as a control parameter.

The control structure of the servo driver 4 includes a speed controller 42, a current controller 43, and a speed feedback system having the control target 6 as a forward element, and further, the speed feedback system and the position controller 41 as a forward element. Includes position feedback system. With the control structure configured as described above, the servo driver 4 can servo-control the motor 2 so as to follow the position command supplied from the standard PLC 5.

  When an excessive load (for example, a load exceeding the rated load of the motor 2) is applied to the motor 2 for a relatively long time during the servo control of the motor 2 in this manner, the winding of the motor 2 is Since an excessive current flows for a long time, there is a possibility that the winding temperature will rise excessively and burn out. The servo driver 4 has an electronic thermal unit 150 in order to avoid such driving of the motor 2 in an overloaded state. Specifically, the electronic thermal unit 150 has the calculation model 100 shown in FIG. As described above, the calculation model 100 includes the winding temperature characteristic model 101 and the stator temperature characteristic model 102. When the heat flow in the motor 2 is given as an input, the winding temperature at which the winding of the motor 2 can converge as a result. Is output. Then, based on the winding temperature output from the calculation model 100, the overload determination unit 110 determines whether there is a possibility that the motor 2 will be in an overload state, in other words, the winding of the motor 2 will excessively heat. A determination is made as to whether there is a risk. When the overload determination unit 110 determines that the motor 2 is in an overload state, the servo driver 4 can stop driving the motor 2 to protect the motor 2.

  Here, a control structure for adapting the calculation model 100 of the electronic thermal unit 150 to the motor 2 to be controlled by the servo driver 4 will be described with reference to FIG. The servo driver 4 has a model adapting unit 200 for adapting the calculation model 100 to the motor 2. The model fitting unit 200 calculates the model parameters of the calculation model 100 corresponding to the motor 2, that is, the thermal resistance Ra and the thermal time constant Ta of the winding temperature characteristic model 101 and the heat resistance of the stator temperature characteristic model 102 corresponding to the motor 2. The resistance Rb and the thermal time constant Tb are calculated, and the calculation model 100 is adapted to the motor 2 using them. When the calculation model 100 is adapted, the current controller 43 and the amplifier 44 shown in FIG. 4 are used but the position controller 41 and the speed controller 42 are not used. The description of the controller 42 is omitted.

Here, the model fitting unit 200 includes an application control unit 210, a temperature transition acquisition unit 220, and a determination unit 230. The application control unit 210 sends to the current controller 43 a voltage application for calculating the model parameters of the calculation model 100, that is, a command for performing the first voltage application and the second voltage application shown in the upper part of FIG. Output. The voltage application by the application control unit 210 is controlled so as to be suitable for calculation of model parameters by using the winding temperature of the motor 2 and other parameters acquired by the temperature transition acquisition unit 220 described later.

The temperature transition obtaining unit 220 obtains the transition of the winding temperature when the calculation model 100 is adapted, that is, the rising transition and the falling transition shown in the lower part of FIG. 3, based on the winding resistance value of the motor 2. The acquisition of the winding temperature is performed according to Equation 3 below.
Winding temperature θ2 = R2 / R1 · (234.5 + θ1) −234.5 (formula 3)
R1 is a winding resistance value at the start of voltage application (time T1 in FIG. 2).
θ1 is the winding temperature at the start of voltage application. For example, the ambient temperature of the surrounding environment of the motor 2 (when it can be obtained by the servo driver 4) or the detection value of the temperature sensor of the encoder attached to the motor 2 can be used as θ1.
R2 is a winding resistance value when a voltage is applied. The acquisition of the winding resistance value R2 will be described later.
The temperature transition acquisition unit 220 acquires the winding temperature of the motor 2 at that time according to Expression 3 as needed at the same time as the application of the voltage by the application control unit 210.

The determining unit 230 determines the thermal resistance Ra and the thermal time constant Ta of the winding temperature characteristic model 101 corresponding to the motor 2 and the stator temperature characteristic based on the rising transition and the falling transition acquired by the temperature transition acquiring unit 220. The thermal resistance Rb and the thermal time constant Tb of the model 102 are calculated. The calculation of these model parameters is as described above. Further, the determining unit 230 applies the calculated model parameters to the winding temperature characteristic model 101 and the stator temperature characteristic model 102 of the calculation model 100 to determine each model. As a result, the calculation model 100 for the electronic thermal unit 150 shown in FIG. 1 is adapted to the motor 2 controlled by the servo driver 4 itself.

  Here, a method of fitting the calculation model 100 by the model fitting unit 200 will be described with reference to FIG. FIG. 6 is a flowchart showing a flow of a method of fitting the calculation model 100 by the model fitting unit 200. First, in S101, immediately before the application of the first voltage by the application control unit 210, an initialization process of acquiring the winding resistance value of the motor 2 (R1 in Equation 3) and its winding temperature (θ1 in Equation 3). I do. The winding resistance value is calculated based on a current value when a voltage for measurement is applied between terminals of the motor. In addition, the winding temperature in this initialization process can be considered to be substantially the same as the outside air temperature because the motor 2 is placed in the surrounding environment for a sufficiently long time. Therefore, the outside air temperature and the temperature detected by the temperature sensor in the encoder installed in the motor 2 are acquired as the winding temperature in the initialization processing.

  Next, in S102, while the first voltage is applied by the application control unit 210, the temperature transition acquisition unit 220 acquires the transition of the winding temperature of the motor 2 from rising. Here, when the winding temperature is increased by the application of the first voltage, if a voltage is separately applied for calculating the resistance value, the temperature increase control by the application of the first voltage is hindered. In the first voltage application, the winding temperature of the motor 2 needs to be raised to the first temperature t1, and if the temperature rise is disturbed every time the resistance value is calculated, the model parameters (thermal resistance and thermal time constant) ) Becomes difficult to calculate appropriately. Therefore, in the present embodiment, in the first voltage application, a periodic voltage is applied to increase the winding temperature by the voltage application, and at the same time, the voltage application is input to the motor 2 and the current flowing through the winding is When the output is set, the winding resistance value of the motor 2 is calculated using the frequency response of the current to the voltage application.

Specifically, as shown in the upper part of FIG. 7, in the first voltage application, a periodic sine wave voltage is applied during the application period (T1 to T2). At this time, the effective value (root mean square value) of the sine wave voltage is the voltage V1 shown in FIG. By applying the periodic sine wave voltage as the first voltage application in this manner, the winding temperature of the motor 2 can be increased to the first temperature t1. Here, when the periodic voltage application is performed, the applied voltage value and the current value flowing through the winding of the motor 2 are acquired by the temperature transition acquisition unit 220 as an input value and an output value, respectively. . The frequency response of the output value with respect to the input value reflects the electric characteristic of the motor 2 represented by the following Expression 4.
Electrical characteristics of motor 2: (1 / R) · (1 / (Ts + 1)) (Equation 4)
Here, R is the winding resistance of the motor 2, and T is the electric time constant of the motor 2.

・・・（式５）
更に、温度推移取得部２２０は、式５で算出された巻線抵抗Ｒを式３におけるＲ２に代
入して、周波数応答を取得した時点での巻線温度（式３におけるθ２）を算出する。 Therefore, the temperature transition acquisition unit 220 calculates the frequency response of the output value, and further uses the gain G (ω) and phase P (ω) obtained based on the frequency response to further calculate the winding resistance R of the motor 2 as follows. Is calculated in accordance with the equation (5).

... (Equation 5)
Further, the temperature transition acquisition unit 220 substitutes the winding resistance R calculated by Expression 5 for R2 in Expression 3, and calculates the winding temperature (θ2 in Expression 3) at the time when the frequency response is obtained.

  As described above, the temperature transition acquisition unit 220 uses the frequency response of the current flowing through the windings of the motor 2 when the first voltage is applied, thereby increasing the temperature of the motor 2 (increases the winding temperature to the first temperature t1). Without obstructing the winding process), it is possible to use the winding resistance value to obtain the transition of the winding temperature rise. Note that the acquisition timing of the rising transition of the winding temperature by the temperature transition acquiring unit 220, that is, the acquisition timing of the frequency response, may be set as appropriate within a range where the rising transition can be acquired to such an extent that the model parameters can be calculated.

  In the example shown in the upper part of FIG. 7, the sine wave voltage is applied continuously during the application period. However, if the winding temperature of the motor 2 can be converged to the equilibrium state of the first temperature t1, the sine wave voltage is intermittently applied. May be applied. At this time, the mean square value of the intermittent sine wave voltage during the application period is the voltage V1. Further, the period of the applied voltage in the first voltage application may be appropriately determined as long as an appropriate frequency response for calculating the winding resistance value is obtained. If the cycle of the applied voltage is too long, the winding temperature tends to change abruptly due to voltage application. On the other hand, if the cycle of the applied voltage is too short, it is difficult to appropriately reflect the electrical characteristics of the motor 2 in the frequency response. Become. Therefore, the frequency of the applied sine wave voltage is, for example, 1/3 to 3 times, preferably 1/2 to 2 times, more preferably 1 times the frequency corresponding to the reciprocal of the electric time constant of the motor 2. Set to. Thereby, the temperature adjustment and the temperature acquisition of the motor 2 can be realized in a well-balanced manner.

Next, in S103, it is determined whether or not the winding temperature of the motor 2 acquired by the temperature transition acquisition unit 220 has converged to the first temperature t1. For example, it may be determined that the rise has converged when the rate of change in the winding temperature of the motor 2 becomes equal to or less than a predetermined threshold. The rate of increase can be defined as the amount of increase in winding temperature per unit time. Further, the threshold value may be a predetermined fixed value. Alternatively, it is considered that the rate of change of the winding temperature immediately after the start of the first voltage application, that is, the rate of the highest change during the application period is highest. The rise change rate at that time may be determined as a reference, and for example, a value of 1/10 of the rise change rate assumed to be the maximum may be used as the threshold. If an affirmative determination is made in S103, the process proceeds to S104, and if a negative determination is made, since the winding temperature has not converged to the first temperature t1, the process from S102 is repeated to continue the application of the first voltage.

  Next, in S104, the temperature transition acquisition unit 220 acquires a falling transition of the winding temperature of the motor 2 while applying the second voltage by the application control unit 210. In the second voltage application, as in the case of the first voltage application, periodic voltage application is performed from the viewpoint of obtaining the winding temperature, and as a result, the winding temperature is decreased. Specifically, in the second voltage application, a periodic sine wave voltage is applied intermittently during the application period (T2 to T3) as shown in the lower part of FIG. At this time, the mean square value of the intermittent sine wave voltage during the application period is the voltage V2. Then, using the applied voltage value when such a sine wave voltage is applied and the current value flowing through the winding of the motor 2, the temperature transition acquisition unit 220 performs Calculate the frequency response of the current value. Further, the temperature transition obtaining unit 220 calculates the winding resistance R of the motor 2 according to the above equation 5 using the gain G (ω) and the phase P (ω) obtained from the frequency response, and finally calculates The winding temperature at the time of applying the second voltage is calculated according to Equation 3.

If a voltage is applied to the motor winding in order to detect the winding resistance, if the application time is long, an unnecessary increase in the winding temperature is caused, and a suitable transition in the winding temperature is hindered. However, by using the frequency response as described above, the voltage application time for obtaining the resistance value can be shortened, and the amount of energy input to the winding can be suppressed. Without hindering the process of lowering the winding temperature to the temperature t2), the falling transition of the winding temperature can be obtained using the winding resistance value. Also, considering that the winding temperature is lowered and converged to the second temperature when the second voltage is applied, it is preferable that the minimum voltage be applied in the second voltage application. That is, when the second voltage is applied, the voltage may be applied as long as the calculation of the winding temperature based on the frequency response is ensured. Thereby, power consumption in the motor 2 can be suppressed as much as possible.

Next, in S105, it is determined whether or not the winding temperature of the motor 2 acquired by the temperature transition acquisition unit 220 has converged to the second temperature t2. For example, it may be determined that the decrease has converged when the rate of change of the winding temperature of the motor 2 falls below a predetermined threshold. The rate of change of decrease can be defined as the amount of decrease in winding temperature per unit time. In addition, the threshold value may be a predetermined fixed value. Alternatively, it is considered that the rate of change of the winding temperature immediately after the start of the application of the second voltage, that is, the rate of change of the winding temperature is highest during the application period. The falling rate of change at that time may be determined as a reference. For example, a value of 1/10 of the falling rate assumed to be the maximum may be used as the threshold. If an affirmative determination is made in S105, the process proceeds to S106, and if a negative determination is made, since the winding temperature has not converged to the second temperature t2, the processes in and after S104 are repeated to continue application of the second voltage.

  In S106, as described with reference to FIGS. 1 and 2, the thermal resistance Rb and the thermal time constant Tb, which are the model parameters of the stator temperature characteristic model 102, are calculated based on the descending transition acquired in S104. And the same model is determined. Further, in S107, as described also with reference to FIGS. 1 and 2, the model parameters of the winding temperature characteristic model 101 are calculated based on the rising transition obtained in S102 and the model parameters calculated in S106. A certain thermal resistance Ra and a thermal time constant Ta are calculated, and the model is determined.

  Thus, according to the calculation model adaptation method shown in FIG. 6, a suitable calculation model 100 adapted to the motor 2 driven by the servo driver 4 can be prepared. Accordingly, when the motor 2 is driven, the winding temperature can be accurately calculated by the electronic thermal unit 150, and the motor 2 can be suitably protected from overload.

<Modification>
In the calculation model adaptation method shown in FIG. 6, the winding temperature characteristic model 101 and the stator temperature characteristic model 102 are determined based on the acquired rising transition and falling transition. By the way, when the stator temperature characteristic model 102 is known for the motor 2, it is not necessary to acquire the above-described rising transition and falling transition. In such a case, a rising transition is acquired by the processing of S101 to S103 in the calculation model fitting method illustrated in FIG. 6, and based on the acquired rising transition and the known stator temperature characteristic model 102, The winding temperature characteristic model 101 can be determined. That is, in this case, it is not necessary to acquire the downward transition in S104-S105. The known stator temperature characteristic model 102 only needs to be held by the electronic thermal unit 150, and the information of the held known stator temperature characteristic model 102 is used when the winding temperature characteristic model 101 is determined. Is done.

<Second embodiment>
A second fitting method of the calculation model 100 will be described with reference to FIGS. In the stator of the motor 2, “iron loss” in which the stator itself generates heat due to an eddy current generated due to a change in magnetic force due to rotation of the rotor may be significant. This iron loss increases as the rotation speed of the rotor increases, and may have a considerable effect on the winding temperature of the motor 2.

Therefore, in the present embodiment, the calculation model of the electronic thermal unit 150 is a calculation model 100 ′ shown in FIG. The calculation model 100 'includes a winding temperature characteristic model 101 and a stator temperature characteristic model 102 as shown in FIG. 9, but the configuration of the stator temperature characteristic model 102 is different from that of the calculation model 100 shown in FIG. . The stator temperature characteristic model 102 in the calculation model 100 'includes a reference model 102' and an iron loss coefficient Kr having the rotation speed (rpm) of the rotor of the motor 2 as an argument. The reference model 102 ′ is substantially the same as the stator temperature characteristic model 102 of the calculation model 100. The value of the iron loss coefficient Kr may fluctuate according to the rotation speed of the rotor. In the stator temperature characteristic model 102 of the calculation model 100 ', the product obtained by multiplying the input heat flow by (1 + Kr) is input to the reference model 102', and the output of the stator temperature characteristic model 102 is calculated. . Since the calculation model 100 'includes the stator temperature characteristic model 102, the iron loss caused by the rotation of the rotor can be reflected on the temperature characteristic of the stator, and the motor 2 for overload protection can be reflected. Estimation of the winding temperature can be more suitably realized.

  Therefore, a method for adapting the model parameters of the calculation model 100 'to the motor 2 will be described with reference to FIG. 9 that are substantially the same as the processes in the flowchart in FIG. 6 are assigned the same reference numerals, and detailed descriptions thereof are omitted. S101 to S105 in FIG. 9 are the same as S101 to S105 in FIG. Thus, in the present embodiment, the processing after S201 will be described.

  In S201, as described in the first embodiment, the thermal resistance Rb and the thermal time constant Tb, which are the model parameters of the stator temperature characteristic model 102, are calculated based on the descending transition acquired in S104. Is provisionally determined. Here, the "provisional determination" is based on the determination of the iron loss coefficient Kr in S206 described later and finally the determination of the stator temperature characteristic model 102. Therefore, at the time of S201, the iron loss coefficient Kr is set to “0”. Subsequently, S202 is substantially the same processing as S107 of the first embodiment. That is, in S202, the thermal resistance Ra and the thermal time constant Ta, which are the model parameters of the winding temperature characteristic model 101, are calculated based on the rising transition acquired in S102 and the model parameters calculated in S201. The model is determined. Since the winding temperature characteristic model 101 is not updated later, unlike the stator temperature characteristic model 102, it is not a provisional decision but a final decision.

  Next, in S203, the temperature transition acquisition unit 220 acquires the transition of the winding temperature of the motor 2 while the third voltage is being applied by the application control unit 210. In this third voltage application, a periodic voltage application is performed in the same manner as the first voltage application, and the voltage application raises the winding temperature. When the third voltage is applied, the driving current is supplied not only to the d-axis but also to the q-axis, so that the rotor of the motor 2 is rotated at a predetermined rotation speed, that is, the rotation temperature is increased. Therefore, when the third voltage is applied, the winding temperature of the motor 2 increases, and the stator also increases in temperature due to iron loss. The transition of the winding temperature at this time is a transition during rotation. Further, the applied voltage in the third voltage application may be the same voltage as the applied voltage V1 in the first voltage application, or may be a different voltage. Further, at the time of applying the third voltage, as in the case of applying the first voltage, when the voltage application is input to the motor 2 and the current flowing through the winding is output, the frequency response of the current to the voltage application is used. Then, the winding resistance value of the motor 2 is calculated.

  Next, in S204, it is determined whether or not the winding temperature of the motor 2 acquired by the temperature transition acquisition unit 220 at the time of applying the third voltage has converged to the third temperature t3. For example, it may be determined that the rise has converged when the rate of change in the winding temperature of the motor 2 becomes equal to or less than a predetermined threshold. If an affirmative determination is made in S204, the process proceeds to S205, and if a negative determination is made, the processes in and after S203 are repeated.

In S205, the third voltage application is performed based on the provisional calculation model formed including the stator temperature characteristic model provisionally determined in S201 and the winding temperature characteristic model determined in S202. As a result, the winding temperature of the motor 2 assumed to reach and converge is estimated. Specifically, the estimation is performed by calculating the heat flow at that time based on the applied current at the time of applying the third voltage and inputting the heat flow to a temporary calculation model.

Thus, the winding temperature estimated in S205 can be said to be a winding temperature calculated according to a calculation model that does not take into account iron loss in the stator. On the other hand, the convergence temperature (third temperature) of the winding that has risen due to the application of the third voltage can be said to be the winding temperature that reflects iron loss in the stator. Therefore, the difference between the winding temperature and the third temperature estimated in S205 can be considered to be an influence on the winding due to the iron loss of the stator. Therefore, in S206, when the difference between the winding temperature estimated in S205 and the third temperature is ΔT, the iron loss coefficient Kr is calculated according to the following Equation 6.
Kr = ΔT / (ω · Rb) (Equation 6)
Here, ω is a predetermined rotation speed when the third voltage is applied.

  As described above, the iron loss coefficient Kr is calculated according to Equation 6, and the iron loss coefficient Kr is reflected in the stator temperature characteristic model 102 of the calculation model 100 ′ shown in FIG. The updated stator temperature characteristic model 102 is updated. As a result, the iron loss of the stator is reflected in the stator temperature characteristic model 102. Therefore, the winding temperature of the motor 2 is more appropriately estimated, and the electronic thermal unit 150 protects the motor 2 from overload. Can be suitably realized.

  The iron loss in the stator of the motor 2 depends on the rotation speed of the rotor. The degree of the dependence greatly varies depending on the specifications of the laminated electromagnetic steel sheets of the stator, the magnetic force of the rotor, and the like. When the iron loss greatly fluctuates with respect to the rotation speed in the rotation range of the rotor, the processing of S203 to S206 is performed according to the plurality of rotation speeds, and the plurality of iron loss coefficients Kr corresponding to each rotation speed are calculated. The stator temperature characteristic model 102 may be updated to include it. In this case, the iron loss coefficient Kr is configured as a function of the rotation speed such that the value of the iron loss coefficient Kr varies based on the rotation speed input to the stator temperature characteristic model 102.

<Other Examples>
In the above-described embodiments, the model matching unit 200 is formed in the servo driver 4, but instead of this mode, a processing device (for example, a PC (personal computer) that can be electrically connected to the servo driver 4). ) Etc.). The processing device is a device for adapting the calculation model to the motor 2, and has software (program) for adaptation. Specifically, the processing device is a computer having an arithmetic device, a memory, and the like. An executable program is installed in the processing device, and is executed to execute the method. Is realized.

  The dimensions, materials, and shapes of the configurations described in the above-described embodiment, the relative arrangement thereof, and the order of each process included in the described method are limited to the technical scope of the invention unless otherwise specified. It is not intended to be limiting.

<Appendix>
A calculation model (100) for estimating a temperature of a winding provided in an electronic thermal (150) of a motor (2) having a stator and a rotor wound with a winding, the temperature being the temperature of the winding. A calculation model (including a winding temperature characteristic model (101) including a winding-related parameter related to characteristics and a stator temperature characteristic model (102) including a stator-related parameter related to the temperature characteristics of the stator) ( 100) a processing device (4) for determining
In a state where the first voltage is applied to raise the temperature of the winding to the first temperature, a transition in the rise of the temperature of the winding is acquired (S102). After the convergence to one temperature, the temperature transition acquiring unit (S104) acquires a decrease transition of the temperature of the winding while applying the second voltage for decreasing the temperature to the second temperature lower than the first temperature (S104). 220),
The stator-related parameters are calculated based on the descending transition to determine the stator temperature characteristic model (S106), and the winding is further determined based on the rising transition and the determined stator temperature characteristic model. Determining a winding temperature characteristic model by calculating related parameters (S107);
A processing device comprising:

A calculation model (100) for estimating a temperature of a winding provided in an electronic thermal (150) of a motor (2) having a stator and a rotor wound with a winding, the temperature being the temperature of the winding. A calculation model (including a winding temperature characteristic model (101) including a winding-related parameter related to characteristics and a stator temperature characteristic model (102) including a stator-related parameter related to the temperature characteristics of the stator) ( 100).
Acquiring a transition in temperature rise of the winding while applying a first voltage to raise the temperature of the winding to a first temperature (S102);
After the temperature of the winding converges to the first temperature, a transition in the temperature of the winding is obtained while a second voltage is being applied to lower the temperature to a second temperature lower than the first temperature. Step (S104),
Calculating the stator-related parameters based on the downward transition to determine the stator temperature characteristic model (S106);
Calculating the winding-related parameters based on the rising transition and the determined stator temperature characteristic model to determine the winding temperature characteristic model (S107);
And a method for determining a winding temperature calculation model.

A calculation model (100) for estimating a temperature of a winding provided in an electronic thermal (150) of a motor (2) having a stator and a rotor wound with a winding, the temperature being the temperature of the winding. A calculation model (including a winding temperature characteristic model (101) including a winding-related parameter related to characteristics and a stator temperature characteristic model (102) including a stator-related parameter related to the temperature characteristics of the stator) ( 100) to a processing device (4) configured to determine
Acquiring a transition in temperature rise of the winding while applying a first voltage to raise the temperature of the winding to a first temperature (S102);
After the temperature of the winding converges to the first temperature, a transition in the temperature of the winding is obtained while a second voltage is being applied to lower the temperature to a second temperature lower than the first temperature. Step (S105),
Calculating the stator-related parameters based on the downward transition to determine the stator temperature characteristic model (S106);
Calculating the winding-related parameters based on the rising transition and the determined stator temperature characteristic model to determine the winding temperature characteristic model (S107);
Program to determine the winding temperature calculation model.

2: Motor 4: Servo driver 100, 100 ': Calculation model 101: Winding temperature characteristic model 102: Stator temperature characteristic model 150: Electronic thermal unit 200: Model adaptation unit 210: Application control unit 220: Temperature transition acquisition unit 230 : Decision department

Claims (8)

A calculation model for estimating the temperature of the winding, which is provided by an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and includes a winding-related parameter related to a temperature characteristic of the winding. A processing device that determines a calculation model including a winding temperature characteristic model including, and a stator temperature characteristic model including a stator-related parameter related to the temperature characteristic of the stator,
In a state where a first voltage is applied to raise the temperature of the winding to a first temperature, a transition in temperature rise of the winding is obtained, and further, the temperature of the winding is changed to the first temperature. After the convergence, in a state in which a second voltage is applied for lowering the temperature to a second temperature lower than the first temperature, a temperature transition acquisition unit that acquires a decrease transition of the temperature of the winding;
Calculate the stator-related parameters based on the descending transition to determine the stator temperature characteristic model, and further calculate the winding-related parameters based on the ascending transition and the determined stator temperature characteristic model. Calculating and determining the winding temperature characteristic model, a determining unit,
A processing device comprising: The temperature transition acquisition unit acquires the rising transition and the falling transition based on the resistance value of the winding,
The processing device according to claim 1. When a voltage applied to the winding is input and a current flowing through the winding is output, a frequency response obtaining unit that obtains a frequency response of the motor,
Based on the frequency response, a resistance calculating unit that calculates a resistance value of the winding,
The processing apparatus according to claim 2, further comprising: In the first voltage application, a first cycle voltage application is performed, and in the second voltage application, a second cycle voltage application is performed,
The resistance calculation unit is configured to control the winding of the winding when the first voltage is applied, based on the frequency response acquired by the frequency response acquisition unit according to the output current of the motor when the voltage application in the first cycle is input. A resistance value is calculated, and based on the frequency response acquired by the frequency response acquisition unit according to the output current of the motor when the voltage application of the second cycle is input, the winding of the winding when the second voltage is applied is calculated. Calculate the resistance value,
The temperature transition acquisition unit acquires the temperature rise transition and the fall transition based on the resistance value of the winding calculated by the resistance calculation unit,
The processing device according to claim 3. The temperature transition acquisition unit acquires the rising transition and the falling transition in a state where the rotor does not rotate,
The determining unit determines the stator temperature characteristic model and the winding temperature characteristic model based on the rising transition and the falling transition obtained in a state where the rotor does not rotate,
The processing device includes:
While the rotor is rotated at a predetermined rotation speed, a third voltage is applied to increase the temperature of the winding, and a temperature change during rotation is obtained to obtain a temperature rise change during rotation, which is a temperature change of the winding. Department and
Based on the voltage application condition at the time of applying the third voltage and the stator temperature characteristic model and the winding temperature characteristic model determined by the determination unit, the convergence temperature of the winding in the rising transition during rotation. An estimator for estimating
Based on the obtained convergence temperature of the winding in the rising transition during rotation and the estimated convergence temperature of the winding, the stator temperature characteristic model determined by the determination unit is replaced with a new stator. An update unit for updating to a temperature characteristic model;
The processing device according to any one of claims 1 to 4, further comprising: A calculation model for estimating the temperature of the winding, which is provided by an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and includes a winding-related parameter related to a temperature characteristic of the winding. A method of determining a calculation model including a winding temperature characteristic model including, and a stator temperature characteristic model including a stator-related parameter related to the temperature characteristic of the stator,
Acquiring a transition in temperature rise of the winding while applying a first voltage for raising the temperature of the winding to a first temperature;
After the temperature of the winding converges to the first temperature, a transition in the temperature of the winding is obtained while a second voltage is being applied to lower the temperature to a second temperature lower than the first temperature. Steps and
Calculating the stator related parameters based on the descending transition to determine the stator temperature characteristic model,
Calculating the winding-related parameters based on the rising transition and the determined stator temperature characteristic model to determine the winding temperature characteristic model;
And a method for determining a winding temperature calculation model. A calculation model for estimating the temperature of the winding, which is provided by an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and includes a winding-related parameter related to a temperature characteristic of the winding. A processing device configured to determine a calculation model including a winding temperature characteristic model including, and a stator temperature characteristic model including a stator-related parameter related to the temperature characteristic of the stator,
Acquiring a transition in temperature rise of the winding while applying a first voltage for raising the temperature of the winding to a first temperature;
After the temperature of the winding converges to the first temperature, a transition in the temperature of the winding is obtained while a second voltage is being applied to lower the temperature to a second temperature lower than the first temperature. Steps and
Calculating the stator related parameters based on the descending transition to determine the stator temperature characteristic model,
Calculating the winding-related parameters based on the rising transition and the determined stator temperature characteristic model to determine the winding temperature characteristic model;
Program to determine the winding temperature calculation model. A calculation model for estimating the temperature of the winding, which is provided by an electronic thermal of a motor having a stator and a rotor on which the winding is wound, and includes a winding-related parameter related to a temperature characteristic of the winding. A processing device that determines a calculation model including a winding temperature characteristic model including, and a known stator temperature characteristic model including a stator-related parameter related to the temperature characteristic of the stator,
A temperature transition acquisition unit that acquires a transition until the temperature of the winding converges on the first temperature while a first voltage is applied to raise the temperature of the winding to a first temperature; ,
Determining the winding temperature characteristic model by calculating the winding-related parameters based on the rising transition and the known stator temperature characteristic model, a determining unit,
A processing device comprising:

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